#pragma config(Hubs,  S1, HTMotor,  HTMotor,  HTMotor,  HTServo)
#pragma config(Sensor, S1,     ,                    sensorI2CMuxController)
#pragma config(Motor,  mtr_S1_C1_1,     motorD,        tmotorNormal, openLoop, encoder)
#pragma config(Motor,  mtr_S1_C1_2,     motorE,        tmotorNormal, openLoop, encoder)
#pragma config(Motor,  mtr_S1_C2_1,     motorF,        tmotorNormal, openLoop)
#pragma config(Motor,  mtr_S1_C2_2,     motorG,        tmotorNormal, openLoop)
#pragma config(Motor,  mtr_S1_C3_1,     motorH,        tmotorNormal, openLoop)
#pragma config(Motor,  mtr_S1_C3_2,     motorI,        tmotorNone, openLoop)
#pragma config(Servo,  srvo_S1_C4_1,    servo1,               tServoStandard)
#pragma config(Servo,  srvo_S1_C4_2,    servo2,               tServoContinuousRotation)
#pragma config(Servo,  srvo_S1_C4_3,    servo3,               tServoContinuousRotation)
#pragma config(Servo,  srvo_S1_C4_4,    servo4,               tServoStandard)
#pragma config(Servo,  srvo_S1_C4_5,    servo5,               tServoNone)
#pragma config(Servo,  srvo_S1_C4_6,    servo6,               tServoNone)
//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//

#include "basic.h"
/////////////////////////////////////////////////////////////////////////////////////////////////////
//
//                           Autonomous Mode Code Template
//
// This file contains a template for simplified creation of an autonomous program for an TETRIX robot
// competition.
//
// You need to customize two functions with code unique to your specific robot.
//
/////////////////////////////////////////////////////////////////////////////////////////////////////

#include "JoystickDriver.c"  //Include file to "handle" the Bluetooth messages.
#include "ballhoop definitions.h"

/////////////////////////////////////////////////////////////////////////////////////////////////////
//
//                                    initializeRobot
//
// Prior to the start of autonomous mode, you may want to perform some initialization on your robot.
// Things that might be performed during initBasBasBasBasiclization include:
//   1. Move motors and servos to a preset position.
//   2. Some sensor types take a short while to reach stable values during which time it is best that
//      robot is not moving. For example, gyro sensor needs a few seconds to obtain the background
//      "bias" value.
//
// In many cases, you may not have to add any code to this function and it will remain "empty".
//
/////////////////////////////////////////////////////////////////////////////////////////////////////

void initializeRobot()
{
  servo[servo1] = CLAMP_HOME; //put clamp in starting postition
  servo[servo4] = BALLHOOP_HOME; // put bowling ball holder in starting position// Place code here to sinitialize servos to starting positions.
  // Sensors are automatically configured and setup by ROBOTC. They may need a brief time to stabilize.

  return;
}


/////////////////////////////////////////////////////////////////////////////////////////////////////
//
//                                         Main Task
//
// The following is the main code for the autonomous robot operation. Customize as appropriate for
// your specific robot.
//
// The types of things you might do during the autonomous phase (for the 2008-9 FTC competition)
// are:
//
//   1. Have the robot follow a line on the game field until it reaches one of the puck storage
//      areas.
//   2. Load pucks into the robot from the storage bin.
//   3. Stop the robot and wait for autonomous phase to end.
//
// This simple template does nothing except play a periodic tone every few seconds.
//
// At the end of the autonomous period, the FMS will autonmatically abort (stop) execution of the program.
//
/////////////////////////////////////////////////////////////////////////////////////////////////////

task main()
{
  initializeRobot();

  // For stallcheck
  //prevLMTRpos = 0;
  //prevRMTRpos = 0;
	//ClearTimer(T1);  // Timer for reading encoder position

  //StartTask (stallcheck);
  waitForStart(); // Wait for the beginning of autonomous phase.
  goXCM(280,66);
  wait1Msec(200);
  turnXDg(850,80);
  wait1Msec(200);
  goXCM(560,100);


  ///////////////////////////////////////////////////////////
  ///////////////////////////////////////////////////////////
  ////                                                   ////
  ////    Add your robot specific autonomous code here.  ////
  ////                                                   ////
  ///////////////////////////////////////////////////////////
  ///////////////////////////////////////////////////////////

  //while (true)
  //{}
}
